Hexapod

ABSTRACT

The hexapod comprising a preferably plate-shaped receptacle on which at least five, preferably six rods mounted in joints are arranged wherein the other end of each rod is articulated on a mounting, wherein all the mountings can be moved along a circular railway of movement characterized by each mounting being arranged on a separate support ring wherein the respective support ring including the mounting arranged on it are movable, and by each support ring constitute the rotor or part of a rotor of an electromotive drive means comprising also a ring-shaped stator assigned to the individual support ring.

The invention concerns a hexapod comprising a preferably plate-shaped receptacle on which at least five, preferably six rods mounted in separate joints are arranged wherein the other end of each rod is articulated on a mounting, wherein all the mountings can be moved along a path of movement.

A hexapod is a means of positioning or control allowing to change the spatial position of any object situated on the preferably plate-shaped receptacle. To this effect, the receptacle which may also be a ring or the like is articulated to at least five, preferably six rods of constant length mounted in separate joints, wherein the other end of each rod is articulated on a mounting. Each mounting is arranged movably on the common circular rail so as to run along the circular railway of movement defined by the circular rail. Any movement of the mountings will necessarily change the spacing of the rod ends articulated to them, while the spacing of the rods will also necessarily change the angles of the respective rods to each other and consequently the spatial position of the rod joints located on the receptacle. This allows to control all six degrees of freedom of the movable receptacle. However, the possible positions assumed are limited and specific positioning tasks cannot be accomplished with such a hexapod.

Another problem with a hexapod of the aforementioned type is the fact that the individual mountings movably guided on the common circular ring path are connected with an individual driving means which means with an individual drive engine which is moved along with the mounting. This means that not only the mountings but also their drive engines can be moved along the circular ring rail which will mesh by a gear mechanism with a corresponding circular ring rail gearing. Since every drive engine is connected with a cable the following will happen: When the receptacle is rotated by 360 degrees, which is basically possible, so when all mounting run through 360 degrees on the circular railway, the cables will coil up, as a consequence of which 360-degree turns are possible only to a limited extent.

Hence, the basic problem of the invention is to indicate an improved hexapod

To solve this problem, a first invention alternative provides for a hexapod of the type mentioned above that each mounting is arranged on a separate support ring, with the respective support ring being movable together with the mounting arranged on it and that each support ring constitutes the rotor or part of a rotor of an electromotive drive means also comprising a ring-shaped stator assigned to the respective support ring.

In the invented hexapod—this applies to any and all alternatives to the invention—the “rigid” tying of the mounting to one circular-path support only, as known from the state of the art is eliminated. According to the invention, each mounting is arranged on a separate support ring, which means at least five, preferably six, separate pairs of mountings and support rings are provided for. Each support ring is moved together with the mounting, which means that the mounting is firmly arranged on it. The support ring turns around its center. An electromotive drive comprising a magnetic field driven rotor as well as a stator is planned to allow for such rotation. According to the invention, the support ring itself constitutes the rotor or part of the rotor; hence it is rotated relatively to the firmly positioned, also ring-shaped stator assigned to it. To rotor-stator arrangement does therefore not reveal any mechanic drive connection between the drive center members which are rotor and stator, with is different from the state of the art where usually a driving electric engine is provided for interfering through a gear wheel at a respective gearing as described above. The drive rather comes from a magnetic field built up between stator and rotor and wandering along the stator, locally interacting with the rotor, which is the support ring and driving it.

The “decoupling” of the mounting, according to the invention, by assigning or arranging them each on a separate support ring specific for the mounting as well as the design of the driving means as a rotor-stator drive allowing for designing the support ring as a merely rotating member without any supply ducts fed or the like allows with a special advantage any number of 360-degree rotations of the individual support rings without involving the risk of cable coiled up and consequently the accomplishment of even complex positioning tasks requiring multiple 360-degree rotations.

Various arrangements are conceivable for the spatial arrangement of the support rings and the individually assigned stators. A preferred alternative to the invention is that the support rings are arranged concentrically one above another i.e. they are positioned in parallel horizontal planes one above another thus being turned around a common central axis of rotation. Correspondingly, even the stators assigned to the respective support rings are arranged concentrically one above another. In this arrangement, all support rings have the same diameter, and the same is true for the assigned stators. An alternative would be to arrange all support rings concentrically lying one inside another, i.e. that the ring diameters decrease from one ring to the next. Basically, it is possible to arrange the support rings in rather a compact position lying one inside another thus not being compelled to arrange the stators as well as they are displaced into the area below the support ring level. The individual ring-specific attachment pieces in axial direction may be of different lengths so that the individual stators can be arranged on different levels. However, the rings can basically also move around a common axis of rotation. Another possibility might also be a combination of both arrangement alternatives in which the rings or ring sections are arranged vertically and radially staggered from each other thus yielding an arrangement that is tiered from top to bottom. Hence, in this arrangement of the invention the ring diameters and the diameters of the individually assigned stators gradually decrease, and the respective rotor-stator couples are positioned on vertically staggered levels.

As an alternative such virtually compact arrangements it is also conceivable to arrange the individual support rings along with their stators in different levels tilted to one another. Last but not least any spatial positioning of the rotor-stator couples is possible as long as it allows for a support ring rotation with the adjustment of the receptacle resulting therefrom.

Two different configurations are basically conceivable for the spatial arrangement of the rotor to the stator. According to the first one, it is designed as an internal rotor in which the respective rotor is arranged inside the stator assigned to it, or the form of construction as an external rotor in which the stator is arranged within the rotor assigned to it. In the hexapod invented, both versions can be realized even irrespective of the specific spatial positioning of the individual rotor-stator drives to each other (concentrically one above another, staggered etc.).

Since the rotor is a rotatable member, it shall be arranged properly to allow for a rotation with as little friction as possible. To this effect, the support rings can be arranged by means of bearings on one or several stationary members. Such a stationary bearing member may also be the individual stator itself which may reveal a bearing section with an annular flange radially pointing inwardly or outwardly on which the rotor is pivoted by means of an appropriate bearing. However, it is also conceivable to arrange the rings via bearings arranged between them vertically in a concentric arrangement of the support rings one above another. Therefore, appropriate bearings such as ball bearings and the like are positioned between the individual rotors to ensure the rotors directly roll down on one another. The bearing used, for instance the ball bearing described, can be a “complete” ball bearing consisting of two axial bearing rings with a ball inside with all the individual bearing rings connected to one and to the other rotor. However, it is also conceivable to use the individual rotor itself as part of the bearing, hence to design it with a ball groove so that only the balls are left to be set between the rotors constituting the bearing rings. Like the stator with its bearing section described above, at which also a ball groove may be designed, the rotor can also be part of the bearing itself. At this point, we should state that, aside from the ball bearing described, it goes without saying that any other type of bearing such as roller bearings, needle bearings, sliding bearings and the like though air bearings may be used as well.

As an alternative to the described, virtually “internal” bearing of the rotors it is also conceivable to design the support rings with a bearing arm, and to mount all bearing arms through bearings at a common central pillow block. This form of construction is possible only if the driving means are designed as internal rotors. To this effect, a central pillow block is provided for which extends, for instance, from one bottom plate of the hexapod in concentric annular arrangement through the individual rings. Corresponding bearing sections are provided for at it, at which the individual bearing arms are pivoted by means of appropriate bearings (roller bearings, sliding bearings etc.).

The types of bearings described are not final, of course. It goes without saying that the most diverse bearing versions are conceivable which may among others also depend on whether the individual driving means is designed as an internal or as an external rotor. It might also be conceivable to provide for an appropriate housing for an external rotor on which the externally positioned rotors are pivoted. For an internal rotor type, an internal housing would be conceivable as a place for the bearing, or the like.

In addition to the invention as described above with support rings and stator rings wherein an individual stator ring is assigned to each closed support ring, a second basic invention alternative with a hexapod of the aforementioned kind provides that each mounting is arranged on a separate support ring segment wherein the respective support ring segment including the mounting arranged on it is movable, and that each support ring segment forms the rotor or part of a rotor of an electromotive driving means comprising also at least one ring-shaped stator assigned to the support ring segments.

According to this alternative, a mounting is not arranged on a closed support ring but on a ring segment circulating around a certain angle piece which may even be small in dimension i.e. only few degrees. The ring segment forms the rotor of the electromotive drive together with the stator, between the two of them a magnetic field has an effect here as well generated by the stator and running along the stator for a rotary movement, with a coupling drive effect on the two of them. Therefore, the rotor is reduced to a segment part, the formation of a closed ring is not required. Here, however, an individual ring-shaped stator may basically be assigned to each support ring segment as well i.e. each segment has its own rail. According to a particularly expedient design, however, a common stator ring is assigned to several support ring segments i.e. two support ring segments are guided at one common stator. They can be moved separately by actuating the elements on the stator generating the magnetic field i.e. on the stator separate local magnetic fields can be generated. Several rotors (frequently also called runners) are logically actuated by proper actuation for the generation of the magnetic field on a common stator ring, e.g. two support ring segments may be guided on a common stator ring so that three stator rings are planned on six segments. It is also possible to guide three segments on one stator ring so that only two stator rings are required. According to a particularly expedient and miniature version, all the five or six support ring segments are guided on a common stator. Here only a single stator ring is planned on which up to six common track are located which are separated from one another in their control mechanism i.e. concerning the generation of the driving magnetic fields. Thus, they also constitute six ring track virtually separated from one another with support ring segments that can be positioned independently from one another.

Even this alternative to the invention offers the advantages already describe in the first alternative to the invention as against the stat-or-the-art technology. In particular, it allows unlimited 360-degree rotations as the realization of the electromotive drives ensures that no lines etc hamper the rotation due to the mechanical decoupling of rotor and stator.

This alternative to the invention has undergone further development in a particular advantageous way in that each support ring segment—from a vertical aspect—levitates above the stator over a magnetic field acting between rotor and stator. As described, the driving principle is the principle of and electric motor, which means a drive concept based on a magnetic field. Now that the respective rotor is positioned above the stator, the respective motor may levitate in a defined distance above the stator by appropriately controlling the magnetic field acting between rotor and stator which—as described below—is generated through field generation means, i.e. coils on the stator. If, for instance only one common stator ring is used, all five or six support rings segments with their mountings will levitate on it. They are kept at a defined distance to the stator through the controlled magnetic fields. The stator—irrespective of whether only one stator or several stators are planned—has a multitude of individually selectable electric coils which can be separately energized. The rotor, which will be explained below in detail, reveals permanent magnets or is kept at a distance merely by the controlled energizing of the coils (reluctance with soft iron core).

If the stator field now runs along the stator track, it drags the rotor, hence the support ring segment including the mounting, the latter also runs with the excitation field. Hence, this is the functional principle of a linear motor (rotary field linear motor), which forms a closed circular railway her according to the invention. The support ring segments are all kept and guided over the interactive magnetic field on the stator. No bearing elements are required here.

The electromotive drive principle underlying the drive principle may be any drive principle as long as it uses a rotor-stator arrangement. This applies in particular to any and all described versions of and alternatives to the invention. Rotor and stator form an electric motor wherein basically almost any kind of electromotive drive may be realized which can be integrated into the hexapod-specific rotor-stator arrangement or designed with them. One possibility may be to design the electromotive drive as a multiphase, as an electronic commuted AC or DC servo motor, as a bell-type anchor motor, as a brush-type DC motor, as a pancake motor, as a split-phase motor or as a linear motor. It goes without saying that any components to be energized e.g., which require a cable connection are planned to be on the stator. On the rotor, there are only the necessary components which do not require any supply so that no cables are to be ducted there. The stator consists of rather consequently includes a multitude of separately energizable coil to generate a magnetic field interacting with the rotor i.e. the stator is separately excited which is an advantage for the exact control of the ring positioning. On the support ring or the support ring segment itself, a multitude of magnetic elements arranged for instance in circular configuration and interacting with the magnetic field generated by the stator. When using closed support rings, however, it is not necessary to distribute the magnetic elements over the entire circumference of the support ring. For a driving interaction with a magnetic field generated only locally by the stator, the magnetic elements shall also be planned locally only. It is conceivable that registration means which shall identify where the magnetic elements planned in the rotor are in even position allow for the control mechanism actuating the coils only, which currently have to generate a magnetic field for interacting with the magnetic elements on the rotor. Alternatively, it is also possible to form the support ring or the support ring segment itself out of these magnetic elements. The magnetic elements to be used may be sheet metal or permanent solenoids and the like. It can basically be stated that any design and layout of the coils as well as any design and layout of the magnetic can be used and that the individual selection is based on the necessities of the realizable electromotive drive i.e. of the realized motor type (see above not final enumeration).

The disintegration of the circumference i.e. the number of coils planned on the stator as well as the magnetic elements planned on the rotor may be designed at will and according to the individual requirement or purpose planned for using the hexapod. For instance, if a stator is erected as a 64-pole multiphase motor stator, revealing 64 coiled which can be separately energized, an adequate control mechanism 128 phases may break down the circumference into 16,384 phases in total i.e. 16,384 defined ring positions may be actuated. This example already shows the high precision of any positioning option of the individual support rings or support rings segments and the high-precision adjustability of a desired local position of the receptacle.

As described, the energizable coils are planned on the stator. To this effect, the stator may consist of a basic ring, on which radially inwardly or radially outwardly (depending on the form of construction as an inside runner or an outside runner, which will be explained below), coil supports, which constitute the coil cores, protrude and are wrapped around the coils. The arrangement and the layout of the coil supports and the coils themselves and their coiling shall, of course, be chosen according to the motor. In a linear motor version, the coils are coiled around the stator in radial direction, any protruding coil support are not required in this case,

Next to the coils, depending on the version, there is the support ring segment or the support ring or the part of the ring on which the magnetic elements interacting with the coils or the magnetic field generated hereby are planned. The support ring or the support ring segment may completely be made of these magnetic elements. Where appropriate magnetic sheet metal is used, the ring or the segment is a completed sheet metal component in the end. However, it goes without saying that it is also conceivable to arrange separate magnetic elements on the support ring or the ring segment, hence to arrange corresponding sheet metal or permanent magnets. Any design is possible here as well and results from the drive selected or the desired hexapod model or even from a consideration of the field of application.

In order to capture the exact position of the support ring or the support ring segment in relation to the stator, at least one position sensor to capture the position of the rotor in relation to the stator is allocated to each support ring or support ring segment in development of the invention. This position sensor which should have a resolution as high as possible, the ring or segment position allows a very exact definition of the ring or segment position, which is required to exactly control the individual support rings or ring segments with regards to the receptacle position to be actuated. It goes without saying that the configuration does not provide for any cables or the like fed into the rotor in order to operate the position sensor, the position sensor is rather located on the stator, interacting with the rotor.

Preferably, echo sensors arranged on the stator are used as position sensors, interacting with the signalizing elements on the respective support ring or support ring segment. An echo sensor uses the echo effect to measure magnetic fields. Where current flows through an echo sensor which is then taken into a magnetic field vertically conducted to this, it supplies an output voltage depending on the magnetic field strength which constitutes a parameter for magnetic field impact. In case signal giving elements are arranged on the support ring or on the support ring segment, which allow a field interaction with the echo sensors, the position can easily be captured as a result. It is particularly expedient if the signal giving elements are the support ring elements or the magnetic elements planned on the segment itself i.e. that the position sensors 1.5 directly interact with the magnetic elements of the support ring or the support ring segment thus capture the position, so that no additional signal giving elements need to be arranged.

Finally, a development of the invention provides for using a common control mechanism controlling the individual drive means, with which the individual drive means are separately controlled i.e. that every single coil or the energizing of every singly coil is separately actuated by means of the control mechanism, as required by the desired ring or segment movement to carry out the positioning task in order to build up the magnetic field required to this effect.

Finally it should be stated that notwithstanding the fact that an electromotive drive principle was described, other drive principles using a rotor and a stator may be used as well. Even the realization of a pressure-air-driven, a thermodynamic or a hydrostatic drive principle with the rotor and the stator to be designed as required for the drive principle to be realized.

Basically, the realized drive principle, in particular the electromotive drive principle, is highly dynamic as huge torques can be generated at concomitant high rotation speeds. Separate transmission systems and the like are not required. This means that the hexapod in the form of construction invented is particularly suited for dynamic applications in any field of application. The hexapod in the form of construction invented may be used wherever an exact spatial positioning of an object arranged on the receptacle or connected to it is required. The devices which can be moved and positioned by means of the devices can be of any nature. Small and S miniature devices such as the surgery instruments or work equipment used in medical technology, arranged on the receptacle and movable by displacing the receptacle in the room also in any relation to and object to be attended to, are conceivable. It is also conceivable to use it for tools or tool holders used in processing technology, where the tool or the work piece to be processed is located in the holding fixture on the receptacle. The tool such as a cutter or the like is turned about the hexapod and moved in relation to the work piece, or the work piece located on the halter is moved by the hexapod in relation to a, for instance, fixed in position or a tool which can also be moved by a hexapod or any other manipulator. Even large structures such as telescope or satellite dishes or simulators such as flight simulators, helicopter simulators or vehicle simulators may be equipped with a hexapod in the form of construction is invented. A hexapod may position a telescope or individual lenses or other components with maximum precision at any position in a room. A hexapod may also align a satellite dish of any size to a fixed point with maximum precision. When using simulators, highly dynamic positioning movements up to crash simulators are conceivable, using the hexapod in the form of construction invented. It is also conceivable to use it with an X-ray device, particularly with a computer tomography device. At the ring-shaped receptacle the dimension of which allows for moving an object through it, a radiation source and a radiation recipient may be arranged one opposite the other. The object is not moved through the receptacle, as the hexapod itself is also a ring-shaped open component, the object be necessarily even be moved through it. Hence, this allows to move the picture mounting unit (radiation source and radiation recipient) along the object and, of course, also to turn it at high speed by turning the support rings around the patient. The adjustability of the spatial position of the receptacle therefore also allows any tilting of the picture mounting even in relation to the patient so that any picture mounting level itself may be selected and set and pictures taken from different directions and angle of rotation may be taken. However, the use is not only conceivable for the field of X-ray picture mounting but basically for any picture mounting examination methods such as for any radiation therapies and the like.

Further advantages, features and details result from the examples hereinafter described as well as from the drawing.

FIG. 1 shows the cross-section of a schematic diagram of a hexapod in the invented form of construction of a first version.

FIG. 2 a bird's view on a support ring-stator arrangement of the hexapod in FIG. 1

FIG. 3 shows the cross-section of a schematic diagram of a hexapod in the invented form of construction of a second version.

FIG. 4 a bird's view on a support ring-stator arrangement of the hexapod in FIG. 3

FIG. 5 a bird's view of a another form of construction of a support bearing possibility of a ring-stator arrangement

FIG. 6 a partial view of another of the support rings

FIG. 7 a perspective view of a hexapod of a third form of construction from above

FIG. 8 a perspective view of the hexapod from FIG. 7 from below

FIG. 9 a zoomed partial view of the hexapod according to the view from FIG. 7

FIG. 10 a zoomed partial view of the hexapod according to the view from FIG. 9

FIG. 11 another form of construction of a hexapod similar to the one from FIG. 7-10, however with one support ring segment for each stator

FIG. 12 a schematic diagram of a first application of the hexapod in the invented version

FIG. 13 a schematic diagram of a second application of the hexapod in the invented form of construction

FIG. 14 a schematic diagram of a third application of the hexapod in the invented version

FIG. 15 a schematic diagram of a fourth application of the hexapod in the invented version

FIG. 16 scheme diagram of a fith application of the hexapod in the invention version

FIG. 17 a schematic diagram of a sixth application of the hexapod in the invented version

FIG. 1 shows a hexapod 1 in the invented version, comprising for instance a disc- or ring-shaped receptacle 2, on which an object not shown in detail herein, which can be moved by means of hexapod 1 in the room, is arranged. Three articulated rods 4 are arranged on the receptacle 2 wherein 6 rods are planned in total, but only four rods are shown in the cross section according to FIG. 1. The rods are articulated in a first rotating joint 5 around an axis wherein the rotating joint 5 itself is articulated on a corresponding extension of receptacle 2. This results in a cardan-type pivoting bearing of the individual rods 4.

Each of the other ends of the rods 4 are articulated on another joint 7 on a mounting 8. Joint 7 comprises a rotating joint 9 which is articulated around a rotatable-mounted pivot-born joint holding fixture 11 around another rotary axis 10 on a mounting 8. Here, too, a cardan movement bearing has been realized with an additional torsion option around the pivot bearing 12 of the joint mounting 11. In all, the bearing described herein reveals a high-grade movability of receptacle 2, which can therefore be positioned in extremely many spatial positions, by modifying the relative position of the individual mountings 8 to one another, which will be explained in detail in the following mounting arranged on it are movable, and by each support ring constitute the rotor or part of a rotor of an electromotive drive means comprising also a ring-shaped stator assigned to the individual support ring.

Furthermore, Hexapod 1 comprises a total of six surmounting 8 is fixed on each support ring 13 for which the mounting 8 reveals a segment 25 virtually running in axial direction, and passed into a fixation section through which mounting 8 is fasted on the individual support ring 13. The support rings 13 are visibly arranged concentrically one above another, all support rings have the same diameter, and they can all rotate around a common central axis.

The individual support rings 13 constitute the rotor of each drive means, which also comprises a stator 14 in addition to the support ring 13 i.e. the rotor, wherein one stator 14 is assigned to each stator. The stators run outside the rotors 15 i.e. each rotor 15 is an inside runner, consequently each drive means formed out of one rotor 15 and one stator is an inside run drive.

The drive means is an electromotive drive, on stator 14, see also FIG. 2, coil supports 16 pointing radially inwardly or radially outwardly, carrying one coil 17 each i.e. coil 17 is wrapped around the coil support 16. The coil supports 16 reveal on the inside extended sections 18, opposite of which rotor 15 is located. In the form of construction described herein, the individual support ring 13 constitutes at the same time rotor 15. To this effect the support ring consists of a multitude of individual magnetic elements 19, such as appropriate sheet metal packets or the like, which, see FIG. 2, are mounted to a ring shape. On this rotor 15, mounting 8 is fastened on a fixation section 20 through its fixation section 21.

As can been seen in FIG. 1, the rotors 15 and stators 14 are located one above another, from a vertical view. While stators 14 are fixed in position, rotors 15 rotate in operation, which will be explained later in this text. Bearing means 22 with an axial effect in the form of construction shown are planned to enable such rotary movement. From a vertical view, bearing means 22 are located between the individual rotors 15 and the lowest rotor 15 respectively and the bottom plate 23 and the top rotor 15 and the top plate 24 respectively. Such bearing means 12 may be simple balls guided in appropriate ball grooves not shown herein in detail, formed on the individual top of bottoms sides of the rotors 15 and the ground plate 23 and the cover plate 24 respectively. Such ball groves constitute the rolling surface for the balls so that no separate ball races are required. It goes without saying that complete axial bearing can also be used. In any case, each support ring 13 and consequently each rotor 15 are separately twistable.

The drive motor is an electromotive drive motor, at stator 14, see also FIG. 2, radially to the inside rising bobbins are planned each of which shall bear a coil 17, i.e. coil 17 will be wound on the bobbins. The bobbins 16i show widened segments 18. Opposite of them rotor 15 is placed. For the design described here the respective support ring 13 forms at the same time rotor 15.

For this the support ring consists of a variety of single magnetic elements 19, e.g., of suitable sheet metal packages or something similar which, see FIG. 2, are mounted to a ring form. Mounting 8 is fixed at this rotor 15 at a fixing segment 20 via its fixing segment 21.

As from FIG. 1 can be seen the rotors 15 and stators 14 are placed vertically on top of each other. While the stators 14 are in a fixed position, the rotors turn during operation which will be explained in the following. Bearing means 22 which have an axial effect at the shown application engineering are planned for enabling this rotation. The bearing means 22 are, vertically seen, between the respective rotor 15 respectively between the lowest rotor 15 and the bottom plate 23 respectively between the highest rotor 15 and the covering plate 24. These bearing means 22 are for example simple balls which will be conducted in according ball grooves, which here are not explicitly shown, which are shaped at the single upper and bottom sides of the rotors 15 respectively at the bottom plate 23 and the covering plate 24. These bail grooves form the pitch surfaces for the balls so that no separate ball races will have to be planned. Of course complete axial bearings could be deployed/used. In each case the support ring 13 and with this each rotor 15 is separately twistable.

The movement of each single support ring 15 and resulting from that the movement of each single fixing and again resulting from that the movement and the spatial adjustment of the single rods 4 result from the setting up of corresponding magnetic fields via the stator and the interaction of the magnetic fields with rotor 15 respectively with the magnetic elements 19 there. Via a control device not explicitly shown it will be possible to control separately each single coil 17 of each stator 14, i. e. supply them with electricity. A magnetic field will be set up by means of supplying a coil with electricity which will interact with the magnetic elements 19 and stator 14. This magnetic field can migrate/shift circumferentially by means of an appropriate coil control so that rotor 15 is move via this shifting field. According to the control of the coils 17 a single support ring 13 can be turned or several support rings 13 or all support rings simultaneously. This enables to adjust the support rings 13 just in any order to each other within the scope of the circumferential freedom of movement of the single supports 8. A change of the angle position of the single rods 4 relative to each other results from this what again is expressed in an according change of the spatial position of holding fixture receptacle

Furthermore a position sensor 33 place at the stator 14 is planned, for example an echo sensor which serves the collection/capture of the exact position of rotor 15 (see FIG. 2). This one interacts with the magnetic elements 19 and is so able to capture the movement of the single magnetic elements rotating along it. It communicates with the not shown control device which controls the entire Hexapod operation and which captures from the sensor signal the corresponding is-position of the respective support ring 13 against stator 14.

While the FIGS. 1 and 2 show a Hexapod driving means consisting of rotor 15 and stator 14 of the type “inside rotor/runner”, so the FIGS. 3 and for show a Hexapod 1 according to the invention with stator 14 and rotor 15 with an “outside rotor/runner configuration”. The construction of the Hexapod 1 of the FIGS. 3 and 4 corresponds to the greatest possible extent the construction of Hexapod 1 of the FIGS. 1 and 2 especially concerning the holding fixture 2, the rods 4 and their bearing at holding fixture 2 as well as at the mountings 8. However, different from the application engineering according to FIGS. 1 and 2 here the stators are placed internal side/inside while the rotors 15, namely the support rings 13 are placed at the outside, enclosing the stators 14. Each stator, on the other hand, consists of a ring at which, however, now the bobbins are place, jutting out radially, which, on the other hand, bear the single wound coils 17. Support ring 13 is located opposite the bobbins 16 with their end-side segments 18, thus rotor 15, also here again consisting of a variety of single magnetic elements 19, assembled to a ring form. Again single bearing means 22 are planned for the pivot bearing of the support rings 13, for example again the already described balls (of course also other rolling elements are possible/imaginable) so that the support rings 13 can be twisted independently/individually relatively against each other.

The rotors 15 respectively the support rings 13 are place at the outside as a result the holding fixtures 8 will have to be conducted to the support rings 13 from the outside which is why the segment 25 extends on the outside and passes into the fixing segment 21.

Also here a position sensor, for example an echo sensor, is planned which, on the other hand serves the capture of the position of rotor 15 positioned on the outside and which interacts with the magnetic elements 19.

The operating mode corresponds with the mode described regarding the Hexapod 1 of the FIGS. 1 and 2. The generation of suitable magnetic fields occurs by means of selective supply of electricity of single coils 17 which cause the rotation of rotor 15 by means of interaction with rotor 15 by means of which the adjustment of the single rods 4 and resulting of it receptacle 2 occurs.

FIG. 4 shows another application engineering of a rotor-stator-configuration, again of the inside rotor/runner type. Rotor 15 which here again is identical with support ring 13 is, for example, again constructed of single magnetic elements 19. Opposite of it stator 14 is placed on the outside at which a magnitude of single coils 17 is planned which here, however, are wound as ring coils. The coils 17 are here, different from the above described construction form at which the coils are wound in a radially conducted way, quasi wound in the direction of the circumference. For coupling/linking up the generated magnetic fields to rotor 15 at the supply of electricity to the single coils 17 corresponding yokes 26 are planned which quasi form the inside of stator 14 and which are opposite of rotor 15. A user-defined magnetic field variation can be reached with a suitable supply of electricity of the coils 17 which will provide a movement of the single rotors 15.

FIG. 6 shows a further construction respectively bearing possibility of the single support rings 13 whereat/at which here only the support rings 13 but not the assigned stators 14 are shown. Each support ring 13 has in the shown example a bearing arm directed to the inside, whereat all bearing arms end in the middle of the support rings 13, and are borne via suitable bearing means as ball bearings, rolls or something similar at a common central bearing support 28. The bearing arm 27 has for this a suitable bearing through hole which, for example, forms itself the outside ring of a ball bearing or in which such an outside ring or the ball bearing itself is shrunk, etc. In any case a simple pivot bearing is given by means of this inner bearing support 28. Furthermore holding fixtures 29 are planned at each bearing arm 27 for always one separate mounting 8 which here is not explicitly shown. It can also be connected torque proof with the respective support ring 13.

FIGS. 7-10 show an example of a Hexapod 2 of the second fundamental invention alternative at which no support rings but only shortly measured support ring segments are used which are mounted and moved quasi floatingly above a stator via a magnetic field. As far as possible the same reference indications have been used for the same components.

Hexapod 1 subject to invention comprises according to that alterative also a holding fixture 2 at which rods 4 movable borne in links are arranged/placed. Also here the rods for are each pivot borne around an axis in a first pivot joint whereat pivot joint 5 on its side is pivot borne around a second axis at mounting 2. Also here a cardan shaft like pivoting bearing results from it. We refer to the corresponding description regarding the Hexapod in FIG. 1.

Also here the other ends of the rods 4 are arranged via a further joint in each case at mounting 8 whereat also this joint again has been designed to be cardanic, compare Hexapod description 1 according to FIG. 1.

Here each mounting 8, however, is—different as at the design of the above mentioned form of construction—arranged on one support ring segment 45 which is only a short ring segment and which corresponds with its width essentially the mounting width. So there are no separately closed support rings but only very short support ring segments planned. The support ring segments have, seen in a sectional view, fundamentally an L-form, see, for instance, FIG. 8, with a first arm 46 which runs above the only here planned/planned stator 14 and with a second arm 47 which intervenes at the inside into stator 14. It can be seen that all six support ring segments are conducted to one common stator 14 in this form of construction.

Stator 14 has a groove structure, see FIGS. 9 and 10, i, e. that a multitude/rnulticity of deepened grooves 48 are planned. One coil 49 is wound in each of these radially conducted grooves which as a result also extends radially. Each coil 49 can be supplied with electricity via the lines 50 separately and can so generate an own magnetic field with a corresponding supply of electricity. There are only a few coils 49 and their lines 50 drawn in the figures for clarity reasons, but of course there is wound around the entire stator circumference in each groove 48 a coil 49, e. that user-defined magnetic fields can be generated around the entire stator at user-defined positions by means of supply of electricity to one or several of the coils 49.

These magnetic fields now interact with the respective support ring segment 45. This consists of suitable material, for example it can consist of several permanent magnets arranged next to each other or of other suitable materials which can interact in a certain way with the magnetic fields generated by the coils. The fields interact with both arms s 46 and 47 out of which a high stiffness on two levels will be reached. This interaction shows in that way that via the magnetic fields generated by the stator each support ring segment 45 will be conducted via a narrow gap to the stator 14, i. e. that each support ring segment 45 floats quasi with its arm 46 above stator 14 without touching this one. Eventually all support ring segments 45 float above stator 14 so that in all a configuration is given borne only by this “basic magnetic field”. So they will be held only by the magnetic fields generated by the stator respectively by their interaction with the support ring segments 45. Bearing elements here are not required.

(The control device, also here not explicitly shown, which controls the complete electricity supply operation of the single coils 49, controls these, for example, now to that extent that it generates on keeps the on hand the basic magnetic field which the support ring signals 45 that keeps on a defined distance to stator 14)

The control device, here also not explicitly shown, which controls the entire electricity supply operation of the single coils 49, now controls these, for example, to that extent that it generates on the one hand the basic magnetic field which keeps the support ring signals at a defined distance to stator 14. On the other hand the electricity supply operation is controlled by this control device to that extent that for the movement of a support ring segment 45 along the stator ring orbit a travelling magnetic field arises, i.e, that a magnetic field will be generated according to the desired circumferential shifting distance that interacts with the support ring segment 45 which is to be shifted and travels along this shifting distance at the stator side and that carts along the support ring segment 45. Accordingly each support ring segment 45 forms the rotor/runner of a linear motor the second component of which stator 14 is. i.e. that the drive principle described herein is that of a linear motor which, however, here has been dosed to a circular railway on which the relatively short measured support rings 45, thus the single rotors/runners, run.

The generation of a constant basic magnetic field, however, is not necessarily required. Much more it is also imaginable to generate only local fields there where at the moment a support ring segment 45 is located so that this one is floating above the locally generated magnetic field. This locally generated magnetic field correspondingly can travel along the stator for the support ring movement, whereto the single coil windings accordingly varying will be controlled/triggered. i.e. that only the coils 49 which actually have to be controlled for generating the magnetic field in relation with the position of the respective support ring segment 45 will be supplied with electricity for generating the local magnetic field. The basic capture which coil 45 will have to be supplied with electricity respectively fundamentally the capture of the position of a support ring segment 45 can be executed by suitable position sensors which are preferably are planned for the stator side. This is valid for all versions having this functional principle. Again also here echo sensors or something similar can be used. If necessary also the position of a support ring segment 45 can be captured individually by means of control engineering, because there are always field variations in the area where a support ring segment 45 is located because of the interaction between rotor and stator field which can be captured and evaluated from the control device side for the definition of the position.

Evidently it is possible for this design of the invention to change user-defined the single support ring segments 45 and with this the mountings 8 and with these the spatial positions of the single rods 4 up-linked with them by the possibility of positioning user-defined the support ring segments within the respective possible circumferential distance of movement. User-defined frequent 360° turns are of course possible at a simultaneous movement of all support ring segments, because also here no connecting lines and something similar are conducted to the support ring segments 45 or the generally rotating parts of the Hexapod. The only line connections are the motionless lines 45 to the coils 49. All six support ring segments 45 run, as described, on a common stator 14 in the described application engineering. As each support ring segment 45 can be shifted separately, but also all support ring segments 45 can rotate by 360° simultaneously, as a result in the presented application engineering six separate virtual circular railways are given, around which six separate travelling magnetic fields run by means of control engineering, i. e. that six separate rotating magnetic fields have to be generated for being able to move each single support ring segment 45 by 360°. This is also easily possible by means of suitable control of the single coils 49, thus the single stator winding. Very exactly and clearly defined magnetic fields can be generated with a correspondingly tight packing which take over the conduction of the support segments,

The drive principle realized according to the invention is that of a phase sequence linear motor (magnetic levitation train) which here is closed to a ring form. Even though all six support ring segment 45 run in the shown example on a common stator 14, it is of course imaginable, for example, to have run only two support ring segments 14 on one stator 14 so that in all three separate stators 14 with always two support ring segments 14 running on them can be planned. Alternatively also three support ring segments 45 can run on one stator 14 so that only two stators 14 have to be planned. The least components and as a result the simplest design, however, is the construction shown in the FIGS. 7-10, which, however, is a little bit more complex in case of control engineering, because six separately rotating fields have to be generated for the drive via a common stator 14.

FIG. 11 shows compared with above mentioned form of construction a Hexapod 1 which operates with the same linear motor principle for which, however, in all six separate stators 14 are planned which in each case bear respectively conduct one support ring segment 45. The support ring segments 45 here are connected with the respective mountings S which here extent over the required axial length into the concentric construction so that the support ring segment 45 being at their end is in the right position. Also here the movement of the single support ring segments 45 and with this of the rods occurs via single rotating magnetic fields generated at the stator, as described above.

FIGS. 12-17 show different examples of use for a Hexapod 1 according to the invention. Even though always a Hexapod 1 with circumferentially closed support rings is shown, of course it also can be a Hexapod with single support ring segments, with a stator, as exemplarily shown in FIGS. 7-10 or with several stators as hereto described alternatively,

FIG. 12 presents a first example of use of a Hexapod 1 according to the invention. A radiation source 30 and a radiation receiver 31 are here arranged at opposite sides at holding fixture 2, here in ring form. The radiation source, for example, is an x-ray tube, the radiation receiver 31 an x-ray receiver. An object 32 is moved into holding fixture 2 in ring form respectively holding fixture 2 is moved over the object. As the Hexapod itself has an open ring configuration, object 2 also can be moved by the Hexapod itself that is why also longer objects can be processed. Within the scope of the picture mounting holding fixture 2 can be inclined and with it radiation source 30 and radiation receiver 31 so that different picture adjustment levels relatively to object 32 can be taken as of course also holding fixture 2 can rotate unlimitedly by 360° around object 32.

FIG. 13 presents a second example of a possible field of application of the Hexapod I according to the invention. Here it serves for the adjustment of a satellite dish or a dish antenna 34 which is arranged at holding fixture 2. Hexapod 1 here has an outside housing 3 which encapsulates it against the outside. The satellite dish or the dish antenna can spatially be adjusted user-defined and can be arranged regarding a fixed-point via the fixed in position Hexapod 1.

FIG. 14 shows a third possible field of application of the Hexapod 1 according to the invention which here serves the simulation of movements. Here a chair 35 is arranged on holding fixture 2. A person 36 has taken place on this chair in the presented example. Chair 35 is moved by Hexapod 1 for the simulation of movements, for example in connection with a games console or with a 3D cinema for the simulation of effects for flight or driving simulators, it can be twisted and inclined, for simulating the desired movement.

FIG. 15 presents the use of the Hexapod according to the invention as support and at the same time adjusting element for an optical component 37, here in form of a prism 38 which, for example serves as deflection element for a laser beam or something similar. The prism 38 is only one example, of course other optical elements as mirrors or lenses and similar objects can also be adjusted user-defined by Hexapod 1.

FIG. 16 presents the use of the Hexapod according to the invention as support and at the same time adjusting element for a work piece to be processed 39 here an optical lens to be ground 40. The work piece 39 is fixed at holding fixture 2 via a suitable mounting. Work piece 39 is moved relatively to a motionless tool 41 here a lens grinder 42 by Hexapod 1 so that this grinder can, for example, grind the work piece 39. It is, of course, also imaginable to arrange a metal component as work piece 39 which can be treated machining by tool 41. Tool 41 can also be a laser or a tool by which, for example, glue or something similar is applied. i.e. that tool 41 respectively the action at work piece 39 can be user-defined, as well as also work piece 39 can be user-defined. Fundamental is, however, that work piece 39 is moved past tool 41 by Hexapod 1.

FIG. 17 eventually shows the application engineering for a possible field of application of Hexapod 1 according to the invention as a support for tool 43 here, for example, in form of a cutter 44. Tool 43 is directly fixed on the holding fixture 2 of Hexapod 1 and can by means of rotation of the rods 4 and with this of holding fixture 2 be rotated with high speed, while maintaining the previously adjusted spatial orientation. i.e. that the processing of a fixed in position work piece is possible by means of internal rotation/self-rotation. Furthermore also the envelope which the tool describes within the scope of a spatial movement can be changed during the main rotation by means of adjustment of the rods 4, i. e. that tool 43 can be spatially moved and run along the fixed in position work piece during ongoing rotation of tool 43.

The applicability of Hexapod 1 according to the invention is not limited to the described application engineering neither regarding the fields of application nor concrete construction of the Hexapod which can be realized in each construction according to the invention. Rather Hexapod 1 can be used for the movement of any object in the space, finally independent of their size, as Hexapod 1 itself can be dimensioned in any size and performance. It can have a small format with a diameter of, for example, ten centimeters, can, however, also have a diameter of one or several meters, always according to the object to be moved respectively the adjustment task to be executed. 

1. A Hexapod comprising: a plate-shaped holding fixture on which at least five, rods mounted in joints are arranged wherein the other end of each rod is articulated on a mounting, wherein all the mountings can be moved along a circular railway characterized by each mounting being arranged on a separate support ring wherein the respective support ring including the mounting arranged on it are movable, and by each support ring constitute the rotor or part of a rotor of an electromotive drive means comprising also a ring-shaped stator assigned to the individual support ring.
 2. Hexapod according to claim 1, wherein the support rings arranged concentric and one on top of each other or by support rings arranged concentric and located one in one another or by support rings vertically arranged and radially relocated to each other,
 3. Hexapod according to claim 1, wherein each rotor arranged within the stator assigned to it or by the stator within the rotor assigned to it.
 4. Hexapod according to claim 1, wherein support rings borne by bearing means at one or several components fixed in position or by support rings by bearing means arranged between them.
 5. Hexapod according to claim 4, wherein the or one component fixed in position is the respective stator
 6. Hexapod according to claim 1, wherein support rings having always one bearing arm whereas all bearing arms are borne by bearing means at one central bearing support.
 7. A Hexapod comprising: a plate-shaped holding fixture on which at least five, rods mounted in joints are arranged wherein the other end of each rod is articulated on a mounting, wherein all the mountings can be moved along a circular railway characterized by each mounting being arranged on a separate support ring segment wherein the respective support ring segment including the mounting arranged on it are movable, and by each support ring segment constitute the rotor or part of a rotor of an electromotive drive means comprising also a ring-shaped stator assigned to the individual support ring segment.
 8. Hexapod according to claim 7, wherein a common stator assigned to several support ring segments or by a stator assigned to all support ring segments.
 9. Hexapod according to claim 7, wherein each support ring segment vertically seen above the stator is floating via a magnetic field being effective between support ring segment and stator.
 10. Hexapod according to claim 7, wherein each support ring segment has and L-shape with a first arm which is located above the stator and with a second arm which surrounds the stator at the inside or the outside diameter.
 11. Hexapod according to claim 7, wherein a multitude of coils having the possibility for a separate supply of electricity for generating a magnetic field interacting with rotor planned to be at stator.
 12. Hexapod according to claim 11, wherein at the support ring or at the support ring segment a multitude of magnetic elements is planned, arranged in ring-shaped or in ring-segment-shaped configurations being in interaction with the magnetic field generated by the stator, or that the support ring or the support ring segment themselves are formed by this magnetic elements.
 13. Hexapod according to claim 7, wherein the assignment of at least one position sensor for the capture of the position of the rotor relative to the stator for each support ring or support ring segment.
 14. Hexapod according to claim 13, wherein echo sensors arranged at the stator side to be position sensors which interact with signal giving elements placed at the respective support ring or support ring segment.
 15. Hexapod according to claim 14, wherein signal giving elements which are the magnetic elements plant at the support ring side or support ring segment side.
 16. Hexapod according to claim 7, wherein a common control device controlling the single drive means. 